CN101133341B - Radio and light based three dimensional positioning system - Google Patents

Radio and light based three dimensional positioning system Download PDF

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Publication number
CN101133341B
CN101133341B CN2006800067293A CN200680006729A CN101133341B CN 101133341 B CN101133341 B CN 101133341B CN 2006800067293 A CN2006800067293 A CN 2006800067293A CN 200680006729 A CN200680006729 A CN 200680006729A CN 101133341 B CN101133341 B CN 101133341B
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Prior art keywords
laser
radio
electric signal
wireless electric
radio receiver
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CN2006800067293A
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CN101133341A (en
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M·尼科尔斯
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Trimble Inc
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Trimble Navigation Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system

Abstract

A radio and light based 3-D positioning system comprising a stationary self-positioning radio (pseudolite) transceiver, a stationary laser transmitter positioned in a location with known coordinates, and at least one mobile integrated radio receiver (pseudolite)/laser detector (RR_LD). The stationary self-positioning radio (pseudolite) transceiver is configured to receive a first plurality of external radio signals, is configured to determine its position coordinates based on the first plurality of received external radio signals, and is configured to broadcast at least one internal radio signal. The stationary laser transmitter is configured to broadcast at least one laser beam. At least one mobile integrated radio receiver (pseudolite)/laser detector (RR_LD) is configured to receive a second plurality of external radio signals, is configured to receive at least one internal radio signal, is configured to detect at least one laser beam, and is configured to determine its 3-D position coordinates based on a set of data selected from the group consisting of: {the second plurality of received external radio signals; at least one received internal radio signal; and at least one detected laser beam}.

Description

3 D positioning system based on radio and light
Technical field
The present invention relates to the position and follow the tracks of and control system of machine, more particularly, relate to the combination of a kind of laser system and radio positioning system, it is configured to complimentary to one another so that the tracking of prior art and apparatus control optimized performance.
Background technology
The field of wireless distance finding or pseudolite systems is existing remarkable progress at present.One pseudo satellite, pseudolite is a terrestrial radio transmitter, and it is operated in the GPS wave band and sends the signal that is similar to gps system.Owing to the restriction of doing at the use L-band on the non-military purpose, novel " pseudo satellite, pseudolite " in a kind of exploitation uses other selectable frequency, such as the 2.4GHz wave band that need not official's license.
Recently, many progress are also being arranged aspect the rotary laser system that comprises planar laser and fan-shaped laser system.Planar laser provides a reference light plane.Fan-shaped laser provides one or more optical planes that rotate around an axis, can derive a difference in height thus.The common technology of deriving difference in height is by determining the time difference between the detection of two bundles or multi beam fan beam.These systems can provide accurate difference in height such as Trimble LaserStation and Topcon LaserZone system.
But, one intrinsic weakness of pseudolite systems is its vertical precision, because be difficult to a plurality of pseudo satellite, pseudolites vertically are being set producing a geometric relationship that is conducive to mathematical computations, this owing to these terrestrial transmitters usually be arranged on the similar height (+/-500m).
In addition, an intrinsic weakness of laser system can not provide horizontal level for it, or being limited in scope of its available horizontal level.
Summary of the invention
The present invention is devoted to by providing a location system to solve these problems, and it can be supported the multi-user, can accurate three-dimensional localization is provided and can provide the vertical precision that can provide than a satellite-based positioning system better vertical precision in these the satellite-based positioning systems inoperable scope of barrier aerial because of the sky.
One aspect of the present invention relates to a kind of 3 D positioning system based on radio and light, and it comprises a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and at least one mobile comprehensive radio receiver/laser detector (RR_LD).
In one embodiment of this invention, this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) is configured to receive a plurality of the first external wireless electric signal, determine its position coordinates based on a plurality of the first external wireless electric signal that receive, broadcast at least one internal wireless electric signal; And broadcast at least one laser beam.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to receive a plurality of the second external wireless electric signal, receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive self-align RTR_LT, survey at least one laser beam that is produced by this self-align comprehensive RTR_LT and determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises a pseudolite transceiver and a generating laser of being combined with this pseudolite transceiver.In one embodiment of this invention, this pseudolite transceiver further comprises a fixed radio antenna; Wherein the distance between the phase center of this fixed radio antenna and this generating laser is known and fixing.
In one embodiment of this invention, this generating laser further comprises a planar laser transmitter, and it is configured to produce one for the reference laser beam interferes that a high precision vertical coordinate is provided.In another embodiment of the present invention, this generating laser further comprises a fan-shaped generating laser, and it is configured to produce at least one rotation fan-shaped laser beam.
In one embodiment of this invention, this pseudolite transceiver is configured to receive a plurality of the first external wireless electric signal of being broadcasted by following at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS) and a pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises a difference pseudolite transceiver and a generating laser.In this embodiment, the 3 D positioning system based on radio and light of the present invention further comprises one first Radio Communications Link, and it is configured to make this difference pseudolite transceiver to be connected with a differential correction data source; Wherein this first Radio Communications Link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One on-the-spot net (SiteNet), 900 private radio electrical networks; One wireless Internet; An and satellite wireless communication link } group that forms.In this embodiment of the present invention, this difference pseudolite transceiver is configured to receive a plurality of the first external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms; And also be configured to receive a differential correction data group of being broadcasted by following at least one source by this first Radio Communications Link, described source is selected from one by { base station, real-time dynamic (RTK) base station; One virtual base station (VBS); An and pseudo satellite, pseudolite transmitter } group that forms.In this embodiment of the present invention, this difference pseudolite transceiver is configured to utilize these a plurality of first external wireless electric signal and this differential correction data group to obtain the measurement of coordinates value of accurate difference pseudolite transceiver.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a radio positioning system receiver and a laser detector of being combined with this radio positioning system receiver.
In one embodiment of this invention, this radio positioning system receiver is configured to receive a plurality of the second external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.In this embodiment of the present invention, this radio positioning system receiver is configured to determine its three-dimensional location coordinates based on a plurality of the second external wireless electric signal that receive.
In one embodiment, 3 D positioning system based on radio and light of the present invention further comprises one second Radio Communications Link, and it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In one embodiment of this invention, this second Radio Communications Link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet; An and satellite wireless communication link } group that forms.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a pseudo satellite, pseudolite receiver, and it is configured to by using this second wireless communication link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based at least one the internal wireless electric signal that receives.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive a plurality of the second external wireless electric signal; And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In this embodiment of the present invention, this radio receiver further comprises a wireless aerial, and wherein the distance between the phase center of this wireless aerial and this laser detector is known and fixing.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based on a plurality of the second external wireless electric signal that receive with a first order precision; And this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with a second level precision.Suppose that wherein one group of measured value determining with this second level precision is more accurate than one group of measured value determining with this first order precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a pseudo satellite, pseudolite receiver, and it is configured to by using this second wireless communication link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its position coordinates based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) with this first order precision.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive a plurality of the second external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this second Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and based on a plurality of the second external wireless electric signal that receive with this first order precision, and is configured to determine that with this second level precision it highly based at least one laser beam of surveying.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive first group of measurement data from a plurality of the second external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this second Radio Link to receive second group of measurement data from least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); One laser detector, it is configured to survey at least one laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) in order to receive the 3rd group of measurement data; And a weighting processor, it is configured to give different weighted values based on a Measurement Algorithm on the same group measurement data not.
In one embodiment of this invention, for optimizing this Measurement Algorithm, can when measuring, take at least one measuring position parameter into account.In this embodiment of the present invention, each measuring position parameter is selected from one by the { topological diagram of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Another aspect of the present invention relates to a kind of 3 D positioning system based on radio and light, and it comprises: one is arranged at a fixed comprehensive radio transmitter/generating laser (RT_LT) with position of known coordinate; And at least one mobile comprehensive radio receiver/laser detector (RR_LD).
In one embodiment of this invention, this fixed comprehensive radio transmitter/generating laser (RT_LT) is configured to broadcast at least one internal wireless electric signal, and is configured to broadcast at least one laser beam.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to receive a plurality of external wireless electric signal, be configured to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive RT_LT, be configured to survey the laser beam that at least one is produced by this fixed comprehensive RT_LT, also be configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, this fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises a pseudo satellite, pseudolite transmitter and a generating laser of being combined with this pseudo satellite, pseudolite transmitter.This pseudo satellite, pseudolite transmitter further comprises a fixed radio antenna; Wherein the distance between the phase center of this fixed radio antenna and this generating laser is known and fixing.
In one embodiment of this invention, this generating laser further comprises a planar laser transmitter, and it is configured to produce one for the reference laser beam interferes that a high precision vertical coordinate is provided.In another embodiment of the present invention, this generating laser further comprises a fan-shaped generating laser, and it is configured to produce at least one rotation fan-shaped laser beam.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a radio positioning system receiver and a laser detector of being combined with this radio positioning system receiver.
In one embodiment of this invention, this radio positioning system receiver is configured to receive a plurality of external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms; And be configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive.
In one embodiment, of the present inventionly comprise that this is arranged at one and has the fixed comprehensive radio transmitter/generating laser (RT_LT) of position of known coordinate and the system of at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a Radio Link, it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with this fixed comprehensive radio transmitter/generating laser (RT_LT).
In one embodiment of this invention, this wireless communication link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet; An and satellite wireless communication link } group that forms.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a pseudo satellite, pseudolite receiver, and it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT); And be configured to determine its three-dimensional location coordinates based at least one the internal wireless electric signal that receives.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a radio receiver, and it is configured to receive a plurality of external wireless electric signal; And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT).This radio receiver further comprises a wireless aerial, and wherein the distance between the phase center of this wireless aerial and this laser detector is known and fixing.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive with first order precision; And this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a pseudo satellite, pseudolite receiver, and it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT); And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT).In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its position coordinates based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT) with this first order precision; Wherein this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive a plurality of external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT); And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT).In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT) and based on a plurality of external wireless electric signal that receive with this first order precision.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive first group of measurement data from a plurality of external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this Radio Link to receive second group of measurement data from least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT); One laser detector, it is configured to survey at least one laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT) in order to receive the 3rd group of measurement data; And a weighting processor, it is configured to give different weighted values based on a Measurement Algorithm on the same group measurement data not.
In one embodiment of this invention, for optimizing this Measurement Algorithm, can take at least one measuring position parameter into account when measuring, wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Another aspect of the present invention relates to a kind of 3 D positioning system based on radio and light, and it comprises: one is arranged at a fixed transmitting set with primary importance place of known coordinate; One is arranged at a fixed laser transmitter with second place place of known coordinate; And at least one mobile comprehensive radio receiver/laser detector (RR_LD).
In one embodiment of this invention, this fixed transmitting set is configured to broadcast at least one internal wireless electric signal, and this fixed laser transmitter then is configured to broadcast at least one laser beam.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to receive a plurality of external wireless electric signal, be configured to receive the internal wireless electric signal that at least one is broadcasted by this fixed transmitting set, be configured to survey the laser beam that at least one is produced by this fixed laser transmitter, also be configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, be arranged at this fixed transmitting set with primary importance place of known coordinate and further comprise a pseudo satellite, pseudolite transmitter.
In one embodiment of this invention, be arranged at this fixed laser transmitter with second place place of known coordinate and further comprise a planar laser transmitter, it is configured to produce one for the reference laser beam interferes that a high precision vertical coordinate is provided.In another embodiment of the present invention, be arranged at this fixed laser transmitter with second place place of known coordinate and further comprise a fan-shaped generating laser, it is configured to produce at least one rotation fan-shaped laser beam.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a radio positioning system receiver and a laser detector of being combined with this radio positioning system receiver.This radio positioning system receiver further comprises a wireless aerial; Wherein the distance between the phase center of this wireless aerial and this laser detector is known and fixing.
In one embodiment of this invention, this radio positioning system receiver is configured to receive a plurality of external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms; Also be configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive.
In one embodiment, this system of the present invention further comprises: a radio link, it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with this fixed transmitting set, and wherein this Radio Link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet; An and satellite wireless communication link } group that forms.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises a pseudo satellite, pseudolite receiver, and it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed transmitting set; Also be configured to determine its three-dimensional location coordinates based at least one the internal wireless electric signal that receives.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive a plurality of external wireless electric signal; And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed laser transmitter.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive with first order precision; And this comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a pseudo satellite, pseudolite receiver, and it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed transmitting set; And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed laser transmitter.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its position coordinates based at least one internal wireless electric signal of being broadcasted by this fixed transmitting set with this first order precision; And this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive a plurality of external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this Radio Link to receive the internal wireless electric signal that at least one is broadcasted by this fixed transmitting set; And a laser detector, it is configured to survey the laser beam that at least one is produced by this fixed laser transmitter.In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based at least one internal wireless electric signal of being broadcasted by this fixed transmitting set and based on a plurality of external wireless electric signal that receive with this first order precision; Also be configured to determine its height based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises: a radio receiver, and it is configured to receive first group of measurement data from a plurality of external wireless electric signal; One pseudo satellite, pseudolite receiver, it is configured to by using this Radio Link to receive second group of measurement data from least one internal wireless electric signal of being broadcasted by this fixed transmitting set; One laser detector, it is configured to survey at least one laser beam that is produced by this fixed laser transmitter to receive the 3rd group of measurement data; And a weighting processor, it is configured to give different weighted values based on a Measurement Algorithm on the same group measurement data not.
In one embodiment of this invention, for optimizing this Measurement Algorithm, can take at least one measuring position parameter into account when measuring, wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Another aspect of the present invention relates to a kind of by using a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to determine the method for a mobile subscriber position coordinates.
In one embodiment, the method of the present invention comprises the steps: A) 3 D positioning system based on radio and light is provided, it comprises this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and the mobile subscriber who comprises a mobile comprehensive radio receiver/laser detector (RR_LD); B) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to receive a plurality of the first external wireless electric signal; C) determine the position coordinates of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) based on a plurality of the first external wireless electric signal that receive; D) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam; E) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of the second external wireless electric signal, receive at least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and surveying the laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); And F) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, this step B) further comprise the step (B1) that receives a plurality of the first external wireless electric signal of being broadcasted by at least one radio source, wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, this step B) further comprise the step (B2) that receives a differential correction data group of being broadcasted by at least one source, described source is selected from one by { base station, a RTK base station; One virtual base station (VBS); An and pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, this step D) further comprise by using a planar laser transmitter to produce a step (D1) for the reference laser beam interferes that a high precision vertical coordinate is provided.In another embodiment of the present invention, this step D) further comprise by produce the step (D2) of at least one rotation fan-shaped laser beam with a fan-shaped generating laser.
In one embodiment of this invention, this step e) further comprise the step (E1) that receives a plurality of the second external wireless electric signal of being broadcasted by at least one radio source, wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILLEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, step e) further comprise the step (E2) of surveying at least one laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).
In one embodiment of this invention, step F) comprise the steps: that further (F1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with first order precision based on a plurality of the second external wireless electric signal that receive; And the height coordinate of (F2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step F) comprise the steps: that further (F3) is based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and the three-dimensional location coordinates of determining this mobile comprehensive radio receiver/laser detector (RR_LD) based on a plurality of the second external wireless electric signal that receive with this first order precision; And the height coordinate of (F4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step F) further comprise by using a weighting processor to give the step (F5) of different weighted values based on a Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Of the present inventionly relate in one aspect to a kind of method of utilizing a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to follow the tracks of at least one mobile subscriber, wherein at least one such mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD) again.
In one embodiment, tracking of the present invention comprises the steps: A) determine the position coordinates of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) based on a plurality of the first external wireless electric signal; B) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) substantially to broadcast continuously at least one internal wireless electric signal and broadcast at least one laser beam; C) by using at least one mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of the second external wireless electric signal, receive at least one internal wireless electric signal of being broadcasted by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and surveying the laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); D) determine the three-dimensional location coordinates of this at least one mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms; And E) the three-dimensional location coordinates measured value with this at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).
In one embodiment, wherein this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises a display unit, and tracking of the present invention further comprises the steps: F) show the three-dimensional location coordinates measured value of this at least one mobile comprehensive radio receiver/laser detector (RR_LD).
Another aspect of the present invention relates to the method for a kind of mobile subscriber's of determining position coordinates, it comprises the steps: A) 3 D positioning system based on radio and light is provided, it comprises that one is arranged at the fixed comprehensive radio transmitter/generating laser (RT_LT) of a known position and the mobile subscriber who comprises a mobile comprehensive radio receiver/laser detector (RR_LD); B) by using this fixed comprehensive radio transmitter/generating laser (RT_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam; C) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receive at least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT) and surveying the laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT); And D) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, step C) further comprise the step (C2) of surveying at least one laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT).
In one embodiment of this invention, step D) comprise the steps: that further (D1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with first order precision based on a plurality of external wireless electric signal that receive; And the height coordinate of (D2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step D) further comprise the steps: (D3) based at least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT) and determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on a plurality of external wireless electric signal that receive with first order precision; And the height coordinate of (D4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment, step D) further comprise by using a weighting processor to give the step (D5) of different weighted values based on a Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Of the present inventionly relate in one aspect to a kind of method of utilizing a fixed comprehensive radio transmitter/generating laser (RT_LT) to follow the tracks of at least one mobile device, wherein at least one mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD) again.
In one embodiment, tracking of the present invention comprises the steps: A) substantially broadcast continuously at least one internal wireless electric signal and broadcast at least one laser beam by using this fixed comprehensive radio transmitter/generating laser (RT_LT); B) by using at least one mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receive at least one internal wireless electric signal of being broadcasted by this fixed comprehensive radio transmitter/generating laser (RT_LT) and surveying the laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT); C) determine the three-dimensional location coordinates of this at least one mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms; D) the three-dimensional location coordinates measured value with this at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to this fixed comprehensive radio transmitter/generating laser (RT_LT); And (selectable) E) show the three-dimensional location coordinates measured value of this at least one mobile comprehensive radio receiver/laser detector (RR_LD), wherein this fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises a display unit.
Another aspect of the present invention relate to a kind of by utilize one be arranged at one have known coordinate the primary importance place fixed transmitting set and by utilizing one to be arranged at the method that a fixed laser transmitter with second place place of known coordinate is determined a mobile subscriber position coordinates.
In one embodiment, the method for the present invention comprises the steps: A) provide one to be arranged at a fixed transmitting set with primary importance place of known coordinate; Provide one to be arranged at a fixed laser transmitter with second place place of known coordinate; And provide the mobile subscriber who comprises a mobile comprehensive radio receiver/laser detector (RR_LD); B) by broadcasting at least one internal wireless electric signal with being arranged at this fixed radio transmitter with primary importance place of known coordinate; C) by broadcasting at least one laser beam with being arranged at this fixed laser transmitter with second place place of known coordinate; D) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receiving at least one by being arranged at the internal wireless electric signal that this fixed radio transmitter with primary importance place of known coordinate broadcasts and surveying the laser beam that produces by being arranged at this fixed laser transmitter with second place place of known coordinate; And E) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
In one embodiment of this invention, step D) further comprise the step (D2) of surveying at least one laser beam that is produced by this fixed laser transmitter.
In one embodiment of this invention, step e) comprise the steps: that further (E1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with first order precision based on a plurality of external wireless electric signal that receive; And the height coordinate of (E2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step e) comprise the steps: that further (E3) is based at least one internal wireless electric signal of being broadcasted by this fixed transmitting set and the three-dimensional location coordinates of determining this mobile comprehensive radio receiver/laser detector (RR_LD) based on a plurality of external wireless electric signal that receive with first order precision; And the height coordinate of (E4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step e) further comprise by using a weighting processor to give the step (E5) of different weighted values based on a Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
Another extra aspect of the present invention relate to a kind of utilize one be arranged at one have known coordinate the primary importance place fixed transmitting set and utilize one to be arranged at the method that a fixed laser transmitter with second place place of known coordinate is followed the tracks of at least one mobile device, wherein at least one mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD).
In one embodiment of this invention, the method comprises the steps: A) be arranged at the fixed transmitting set that this has the primary importance place of known coordinate by use, substantially broadcast continuously at least one internal wireless electric signal; B) be arranged at the fixed laser transmitter that this has the second place place of known coordinate by use, substantially broadcast continuously at least one laser beam; C) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receive at least one internal wireless electric signal of being broadcasted by the fixed transmitting set that is arranged at this primary importance with known coordinate and surveying the laser beam that is produced by the fixed laser transmitter that is arranged at this second place with known coordinate; D) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms; E) send it back the three-dimensional location coordinates measured value of at least one mobile comprehensive radio receiver/laser detector (RR_LD) to the fixed transmitting set that is arranged at this primary importance with known coordinate and send it back to the fixed laser transmitter that is arranged at this second place with known coordinate; And (selectable) F) show the three-dimensional location coordinates measured value of mobile comprehensive radio receiver/laser detector (RR_LD) that at least one is such, the fixed transmitting set that wherein is arranged at this primary importance with known coordinate comprises one first display unit; And the fixed laser transmitter that wherein is arranged at this second place with known coordinate comprises one second display unit.
Description of drawings
Detailed description by a following preferred embodiment of the present invention is also understood by reference to the accompanying drawings, above-mentioned advantages more of the present invention with and extra advantage will become clearer.
Figure 1 shows that of the present invention one comprises the 3 D positioning system based on radio and light of a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) and at least one mobile comprehensive radio receiver/laser detector (RR_LD).
Figure 2 shows that of the present invention one comprises that one is arranged at one and has the fixed comprehensive radio transmitter/generating laser (RT_LT) of known coordinate position and the 3 D positioning system based on radio and light of at least one mobile comprehensive radio receiver/laser detector (RR_LD).
Figure 3 shows that of the present invention one comprises that one is arranged at a fixed transmitting set, with primary importance place of known coordinate and is arranged at one and has the fixed laser transmitter at second place place of known coordinate and the 3 D positioning system based on radio and light of at least one mobile comprehensive radio receiver/laser detector (RR_LD).
Embodiment
Now can be at length with reference to preferred embodiments more of the present invention, its example is shown in the drawings.When of the present invention in conjunction with these preferred embodiment narrations, should be appreciated that its intention is not to limit the invention to these embodiment.On the contrary, the present invention refers to and contains these and be included in replacement, modification and equivalence within the spirit and scope that limit such as appended claim.In addition, in the detailed description below the present invention, many specific detail of proposition are for the present invention can fully be understood.Yet, it will be readily apparent to those skilled in the art that the present invention can implement under these specific detail need not.In other cases, known method, process, element and circuit are not described further in order to avoid feature of the present invention is thickened.
Figure 1 shows that one in one embodiment of the invention comprise the 3 D positioning system 10 based on radio and light of a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 and at least one mobile comprehensive radio receiver/laser detector (RR_LD) 14.
In one embodiment of this invention, this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 is configured to receive a plurality of the first external wireless electric signal, determine its position coordinates based on a plurality of the first external wireless electric signal that receive, broadcast at least one internal wireless electric signal; And broadcast at least one laser beam (seeing also following discussion).In this embodiment of the present invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) 14 is configured to receive a plurality of the second external wireless electric signal, receive the internal wireless electric signal that at least one is broadcasted by this fixed comprehensive self-align RTR_LT, survey the laser beam that at least one is produced by this fixed comprehensive self-align RTR_LT, and determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group (seeing also following discussion) that forms.
More particularly, as shown in Figure 1, in one embodiment of this invention, this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 further comprises a radio transceiver 18 and one and the generating laser 16 of these radio transceiver 18 combinations.In one embodiment of this invention, pseudolite transceiver further comprises a fixed radio antenna 28, and wherein the distance between the phase center of this fixed radio antenna 28 and this generating laser 16 is known and fixing.
This fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 is compared the system of usefulness machinery combination one laser system and a transceiver system, can be a potential user many benefits are provided.Certainly, relative this combined laser of cost of this fixed comprehensive radio transceiver 18 and generating laser 16 and transceiver system be low, because this comprehensive system only needs one group of encapsulation, it can utilize altogether with computer memory and can use a common power.In addition, as mentioned above, in this comprehensive system, it is one known and fixing apart from (not shown) that the electric phase center of laser beam and fixed antenna is separated by, wherein in this combined type mechanically system, the distance of the electric phase center of laser beam and transceiver fixed antenna is easy to make mistakes, because this distance is by the operator introducing of this combined system.
In one embodiment of this invention, generating laser 16 further comprises a planar laser transmitter, and it is configured to produce a reference laser beam interferes 40 that a high precision vertical coordinate can be provided.Similarly the planar laser transmitter intactly is disclosed in the patent US6 that transfers the assignee of the present invention, 433,866 " High precision GPS/RTKand laser machine control ".This US6,433,866 patent integral body are referenced herein by reference.
More particularly, according to this ' 866 patents, generating laser 16 comprises a rotary laser system.In a rotary laser system, a lasing light emitter rotates (mechanically or optically) in a surface level (or Z plane).Rotary laser sends a laser beam, and it can provide a precision is millimetre-sized accurate benchmark plane.Yet, survey slewed laser beam and obtain the benefit of this slewed laser beam, this potential user must be positioned at vertical range, and must be equipped with a laser detector (or a laser pickoff) that can receive this slewed laser beam.In mechanical type embodiment, motor makes that laser instrument is actual to be rotated, and makes thus this laser beam rotation.In optical profile type embodiment, catoptron rotates like this so that the laser instrument that body does not rotate can send this slewed laser beam.
The three-dimensional laser station that Trimble Navigation company limited makes can produce at least one rotation fan-shaped laser beam 40 (and/or 41).Being described in detail by the patented claim A-1500 that awaits the reply simultaneously " COMBINATION LASER SYSTEM AND GLOBAL NAVIGATION SATELLITESYSTEM " of the fan-shaped generating laser of this kind provides, and its integral body is referenced herein by reference.The patented claim A-1500 that this awaits the reply has simultaneously transferred the assignee of present patent application.
Still with reference to Fig. 1, this fixed radio transceiver 18 can be selected from one by { a gps receiver; One GLONASS receiver; The combined type receiver of one GPS/GLONASS; One GALILLEO receiver; One GLONASS (Global Navigation Satellite System) (GNSS) receiver; An and pseudo satellite, pseudolite receiver } group that forms.
This GPS (GPS) is a system that is made of the satellite-signal transmitter, can determine position and/or the observation time that an observer is current by the information of its transmission.Another satellite-based navigational system is called " GLONASS " or the whole world around rail navigational system (GLONASS), and it can be used as and substitutes or backup system.
GPS is developed by its NAVSTAR Sputnik program by U.S. Department of Defense (DOD).The GPS of one full operation comprises and surpasses 24 earth around the rail satellite, and it approximately all intersperses among six and each with claiming all has on the circuit orbit of four satellites, and these tracks are with respect to 55 ° of angles of inclination, equator and separate with the multiple of 60 ° of longitudes each other.The radius of these tracks is 26,560 kilometers and is approximately circle.These tracks are not synchronous with the earth, and its orbit time is spaced apart 0.5 sidereal day (11.967 hours), so that satellite moves with respect to the earth below it in time.Usually, all visible four or a plurality of gps satellite from most of places of earth surface, it can be used to determine that one is positioned at the position of earth surface observer Anywhere.Each satellite all thinks that with a caesium or rubidium atomic clock the signal that transmits via satellite provides timing signal.Each satellite clock all is provided with an internal clocking and proofreaies and correct.
Each gps satellite transmits the L-band carrier signal of two spread-spectrums constantly: a frequency is that L1 signal and the frequency of fl=1575.42MHz (carrier wavelength is about 19 centimetres) is the f2=1227.6MHz L2 signal of (carrier wavelength is about 24 centimetres).These two integral multiples that frequency is a basic frequency f0=1.023MHz, i.e. fl=1,540f0 and f2=1,200f0.L1 signal from each satellite is a binary phase-shift key (BPSK) that disturbs (PRN) code to modulate by the pseudorandom of two phase place quadrature, called after C/A code and P code.L2 signal from each satellite then is the BPSK that only modulates by this P code.The character of these PRN codes and produce the C/A code and P code institute generally the method for use be published in the document ICD-GPS-200:GPS Interface Control Document of GPS Joint Program Office, ARINC Research, 1997, it in this combination as a reference.
The gps satellite bit stream comprises that the navigation information relevant with the position of heavenly body of launching an artificial satellite table (it comprises this orbit information between several hours thereafter transmission period of launching an artificial satellite) and is suitable for the year calendar (it comprises a more not detailed orbit information relevant with all satellites) of all gps satellites.The satellite information of emission also comprises for the parameter of revising ionosphere signal propagation delays (being applicable to the single-frequency receiver) and being used for the shift time of correction one between satellite clock time and real gps time.The transfer rate of navigation information is 50 bauds.
The satellite-based navigational system of the second is global around rail navigational satellite system (GLONASS), and it places in the track by USSR (Union of Soviet Socialist Republics) and is now safeguarded by Russia.GLONASS uses 24 satellites, and it approximately all intersperses among three and each with claiming all has on the orbital plane of eight satellites.Each orbital plane is with respect to 64.8 ° of angles of specified inclination, equator, and these three orbital planes then separate with the multiple of 120 ° of longitudes each other.The radius of the circuit orbit that the GLONASS satellite has is about 25,510 kilometers, and then be 8/17 sidereal day (11.26 hours) satellite period.So a GLONASS satellite and a gps satellite will move for 17 and 16 weeks around the earth respectively in per 8 days.The GLONASS system uses two carrier signal L1 and L2, and its frequency is f1=(1.602+9k/16) GHz and f2=(1.246+7k/16) GHz, wherein k=(1,2 ... 24) be channel or satellite number.These frequencies are in 1.597-1.617GHz (L1) and these two wave bands of 1.240-1.260GHz (L2).This L1 signal is by C/A code (chip rate=0.511MHz) and P code (chip rate=5.11MHz) modulate.This L2 signal is then only modulated by the P code at present.The GLONASS satellite also transmits navigation data with the speed of 50 bauds.Because channel frequency is obviously different each other, the P code of each satellite and C/A code all can be identical.The reception of GLONASS signal and demodulation method and similar for the method for gps signal.
Such as " the White Paper on European transport policy for2010 " of European commission announcement, European Union will develop one independently satellite navigation system " Galileo " (Galileo) with the some as a global navigational satellite infrastructure (GNSS).
The GALILEO system is based on the relevant information of compound body to provide the user to locate in many industries that is made of 30 satellites and a plurality of ground station, such as transportation (vehicle location, route are searched, speed control, navigational system etc.), social service (for example deformity or elder assistance), justice system and customs service (suspect position, border control), public works (Geographic Information System), search and rescue system or go sight-seeing (direction finding etc. in sea or the mountain).
The scope of GALILEO service is designed to realistic target and expectation, the coverage of namely improving the open access service of urban environment (covers 95% urban district, with respect at present only by GPS cover 50%), it will make 100,016,000 private vehicles in Europe benefit; Or satellite navigation is used be used in " indoor ", the buildings and even in the tunnel or even for based on the mobile telephone service of identifying customer location.
One radio positioning system of this paper reference relates to: a GPS, a whole world are around orbital navigation system, GALILEO system and any other compatible satellite-based GLONASS (Global Navigation Satellite System) (GNSS), can determine position and the observation time of an observer by it, it is requirement all according to the invention all; And relate to a surface-based radiopositioning system, such as a system that comprises one or more pseudo satellite, pseudolite transmitters.
Still with reference to Fig. 1, after the emission year calendar parameter that navigating processor 60 is received by radio transceiver 18 by demodulation was determined the coordinate of this I satellite (or I pseudo satellite, pseudolite), navigating processor 60 can draw one group of relevant its unknown coordinates (x 0, y 0, z 0) and the answer of the simultaneous equations of unknown time migration error (cb).Navigating processor 60 also can be determined the speed of a mobile platform.
Still with reference to Fig. 1, in one embodiment of this invention, radio transceiver 18 further comprises a pseudolite transceiver 18, and it is configured to receive a plurality of the first external wireless electric signal by at least one radio source broadcasting, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS) and a pseudo satellite, pseudolite transmitter } group that forms.This pseudolite transceiver 18 preferably is configured to receive a plurality of the first external wireless electric signal by at least four radio source broadcasting, and wherein said at least four radio sources are selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS) and a pseudo satellite, pseudolite transmitter } group that forms.
One pseudo satellite, pseudolite comprises a terrestrial wireless current potential positioning system, it can work in any radio frequency, include but not limited to the not service band of control of GPS frequency and ISM (industry, science and Medical Devices), comprise the ISM wave band of 900MHz, 2.4GHz or 5.8GHz wave band.By accuracy, integrality and availability that raising is provided, pseudo satellite, pseudolite can be used to promote GPS.
The complete description of the pseudo satellite, pseudolite transmitter in the GPS wave band is found in by Bradford W.Parkinson and James J.Spilker Jr and edits and by American Institute of Aeronautic and Astronautics, " the Global Positioning System:Theory and Applications of Inc. in the 164th of 1966 " the PROGRESS IN ASTRONAUTICS AND AERONAUTICS " that deliver; Volume II ".
At the ISM wave band, comprise 900MHz, 2.4GHz or 5.8GHz wave band, the user can have the two ends of ISM communication system.The manufacturer of ISM technology is Trimble Navigation Limited, Sunnyvale, Calif, Metricom, Los Gatos, Calif and Utilicom, Santa Barbara, Calif.
Pseudo satellite, pseudolite as radio positioning system can be configured to work in the ISM wave band.
Below narration will concentrate on a gps receiver, although same scheme can be used for a GLONASS receiver, a GPS/GLONASS combined type receiver, a GALILEO receiver or any other radio transceiver.
In one embodiment, radio transceiver 16 (Fig. 1) can comprise a differential GPS receiver.In the difference position finding, the amplitude of error in the base station that reality approaches of the many meeting infringement absolute position determination precision in the radio fix signal is similar.These errors can reduce by the process of general's part error concealment widely on the impact of difference position finding precision.Therefore, this difference localization method is much more accurate than the absolute fix method, as long as the distance between these stations is more much smaller to the distance of these satellites than these stations, it will be in this way under normal circumstances.The usage variance location can provide position coordinates and the distance of absolute precision within several centimetres.This differential GPS receiver can comprise: an A) real-time code differential GPS; B) an aftertreatment differential GPS; C) in real time dynamically (RTK) differential GPS that comprises a code and carrier wave RTK differential GPS receiver.
This differential GPS receiver can obtain differential correction from homology not.
Still with reference to Fig. 1, in one embodiment of this invention, differential GPS receiver 118 can obtain differential correction from a base station 20.
The fixed base stations (BS) that is arranged at a known location is determined error that the Range And Range Rate in the gps signal of each reception is measured and these measuring error is transmitted as treating the correction that is applied by the local user.Coarse clock of this base station (BS) itself has clock bias CBBASE.As a result, the local user can obtain more accurate navigation results with respect to base station location and base station clock.By suitable equipment, once the relative accuracy that might reach 5 meters from the distance of this base station several hundred kilometers.
Still with reference to Fig. 1, in another embodiment of the present invention, differential GPS receiver 18 can be by realizing that with a TRIMBLE Ag GPS-132 receiver it can be from the free differential correction that obtains by using radio communication device (not shown) and the first wireless communication link 22 to broadcast at the 300kHz wave band of United States Coast Guard (USCG) (Coast Guard).In this embodiment, should be arranged within United States Coast Guard's base station 2-300 mile with the generating laser 16 of differential GPS receiver 18 combinations.The precision of this differential GPS method is approximately 50cm.
Still with reference to Fig. 1, in one embodiment of this invention, can obtain differential correction from Wide Area Augmentation System (WAAS) by using radio communication device (not shown) and the first wireless communication link 22.This WAAS system comprises a base station net, and it (is initially synchronous satellite-GEO) with the GPS integrality and revises data broadcast to GPS user with satellite.WAAS provides the distance measuring signal of an enhancing GPS, and this WAAS distance measuring signal is used for the gps receiver hardware change of standard is minimized.This WAAS distance measuring signal uses GPS frequency and the modulation of GPS type, only comprises that one slightly catches (C/A) PRN code.In addition, code phases regularly can with gps time synchronously so that a range capability to be provided.Be to obtain the position solution, the WAAS satellite can be used for Satellite Selection Algorithm as any other gps satellite.WAAS provides a free differential correction for the compatible user of a WAAS.The precision of the method is higher than 1 meter.
Still with reference to Fig. 1, in one embodiment of this invention, this in real time dynamic (RTK) differential GPS receiver 18 can be used to obtain the location of the not enough 2cm of precision.This RTK differential GPS receiver is arranged at the differential correction of base station 20 of known location in 10-50km by using radio communication device (not shown) and the first wireless communication link 22 to be received from this.For a high-precision measurement, can resolve between a specific gps satellite and this RTK gps receiver complete cycle carrier phase number because each cycle all can seem identical at receiver.Therefore, but the problem of this RTK gps receiver Real-time solution one " integer ambiguity (integer ambiguity) ", and it is one will determine the problem of the complete cycle number of the carrier wave satellite-signal between the gps satellite that is observed and this RTK gps receiver.Really, the error in a carrier cycle L1 (or L2) can change measurement result and reach 19 (or 24) centimetre, and it is a unacceptable error for the measured value of a centimetre-sized precision.
Still with reference to Fig. 1, in one embodiment of this invention, can obtain differential correction by radio transceiver 18 from virtual base station (VBS) 20 by using radio communication device (not shown) and the first wireless communication link 22.
This virtual base station (VBS) is configured to that the correction data communication device that a networking produces is crossed one and comprises that the connection communication link of a single honeycomb wiring is sent to a plurality of rambers and a radio transmission or broadcast system.The position of this radio transmitting system can be located at a position of being appointed as the GPS base station of local virtual base station (VRS).Its position is determined with GPS in this GPS base station, and its position is sent to this VRS base station by a cellular link between local GPS base station and VRS base station.It makes this VRS base station produce differential correction, as this differential correction produces on real GPS base station location.By using the first wireless communication link 22 and a radio communication device (not shown), these corrections can be sent to radio transceiver 18.
One piece of paper of being write by Ulrich Vollath, Alois Deking, Herbert Landaun and Christian Pagels " Long-Range RTK Positioning Using Virtual Reference Stations " has been made more detailed narration to VRS, its integral body, and can read by following link in conjunction with as a reference at this: http://trl.trimble.com/dscgi/ds.py/Get/File-93152/KIS2001-Paper-LongRange.pdf.
Still with reference to Fig. 1, in one embodiment of this invention, this first wireless communication link 22 can be realized by utilizing multiple different embodiment.
Substantially, this first wireless communication link 22 (Fig. 1) can be by realizing with a radio waveband, an infrared ray wave band or a microwave region.In one embodiment, this wireless communication link can comprise the ISM wave band, and it comprises 900MHz, 2.4GHz or 5.8GHz wave band, and wherein the user can have the two ends of this ISM communication system.
In one embodiment of this invention, this first wireless communication link 22 (Fig. 1) can be by using TrimbleSiteNet TM900 private radio electrical networks are realized.Trimble SiteNet TM900 private radio electrical networks are firm, many networkings formula 900MHz radio modem, and its specialized designs is to be used for building industry and mining industry.It can be used to set up the wireless data broadcasting net real-time, that high precision GPS uses that is used for of reinforcement.This universal Trimble wireless device works to broadcast, relay and receive the used real time data of Trimble gps receiver in the frequency range of 902-928MHz.Under optimum condition, but this SiteNet900 wireless device broadcast data far reach 10 kilometers (6.2 miles) visual line of sight and can be by improving its covering with a multirepeater networking., can make to cover to reach these and formerly be difficult to the position that reaches and obstacle is arranged as a transponder with this SiteNet900 wireless device.This SiteNet900 wireless device is very general, can change easily its operator scheme to adapt to any network configuration.Can reduce like this cost and make the pot life maximization.In addition, this SiteNet900 need not official's license at America ﹠ Canada, so that it is very convenient.It can shift between engineering project and not have trouble and restriction aspect the license.This SiteNet900 wireless device is designed to and can works reliably under the high request radio frequency environment that many other products and technology can not operate.Make its sensitivity with raising and disturb immunity to interference except optimizing GPS, this SiteNet900 wireless device also has error correction and a data transfer rate at a high speed to guarantee maximizing performance.This SiteNet900 wireless device is particularly suitable for the SiteVision with Trimble TMThe GPS hierarchical control system uses together, and all GPS apparatus controls of attaching most importance to reliability are used all genus ideals.This firm equipment special design and manufacturing such as machine is used for harsh building and mining environment.It seals to resist dirt, rain, splash and jet fully, and it is reliable that this SiteNet900 wireless device can keep round-the-clockly.The solidness of this wireless device and fiduciary level minimize shut down time, reduce proprietorial cost.The SiteNet900 wireless device of Trimble can use with any Trimble gps receiver, comprising: MS750, MS850, MS860 and 5700 receivers.
In one embodiment of this invention, the first wireless communication link 22 (Fig. 1) can be realized by using a 1.8GHz wave band of supporting Personal Communications Services (PCS).This PCS uses international standard DCS-1800.And in another embodiment, this first wireless communication link can comprise a real-time contactor wireless communication link.For example, the first wireless communication link of this employing one real-time contactor wireless communication link can comprise by being positioned at Schaumburg, the iridium system that the Motorola of Ill. produces.
In another embodiment, this first wireless communication link can be realized by a low earth-orbit satellite (LEOS) system, a Medium Earth-Orbiting Satellite (MEOS) system or synchronous earth-orbiting satellite (GEOS) system that use can be used to store and send the digital packets data.For example, by being positioned at Redmond, the Cellular Communications of Washington make these in the 20-30GHz scope the LEOS system and by being positioned at San Diego, these LEOS systems in the 1.6-2.5GHz scope that the Loral/Qualcomm of California makes.
This first wireless communication link 22 can comprise that also a cellular phone communication device, notifies from a phone call the earth-satellite of signal receiving device, wireless messages business, wireless application business, one wireless wide area network/regional network terminal or at least one satellite transmission one radio wave signal of use-earth communication module.This first wireless communication link also can comprise the cellular phone communication device, and this cellular phone communication device can comprise that one has the Advanced Mobile Phone System (AMPS) of a modulator-demodular unit.This modulator-demodular unit can comprise a DSP at the 800MHz wave band (digital signal processing) modulator-demodular unit, or cellular digital bag data (CDPD) modulator-demodular unit at the 800MHz wave band.The honeycomb fashion digital communication apparatus comprises that time division multiple access (TDMA) (TDMA) system, at radio link use one employing form IS-54 adopts CDMA (CDMA) system of form IS-95 or the numerical data modulating device of a frequency division multiple access (FDMA).The tdma system that is used for Europe is called groupespecial mobile (GSM) at French.
Still with reference to Fig. 1, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises a radio positioning system receiver 48 and one and the laser detector 52 of these radio positioning system receiver 48 combinations.
In one embodiment of this invention, each portable unit 14 outfit one comprises the laser detector 52 of some diodes.The signal intensity of one laser pickoff measurement on some diodes is to determine the center of a laser beam.Be positioned at Pleasanton, the Topcon of California, Laser Systems, Inc., the laser pickoff that manufacturing machine is installed: 9130 laser trackers and LS-B2 laser pickoff.Please check this ' 866 United States Patent (USP)s to be to do reference.
In one embodiment of this invention, this radio positioning system receiver 48 is configured to receive a plurality of the second external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.
Preferably, in one embodiment of this invention, this radio positioning system receiver 48 preferably is configured to receive a plurality of the second external wireless electric signal of being broadcasted by at least four radio sources, and wherein said at least four radio sources are selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.(seeing also discussion above).
In one embodiment of this invention, this fixed radio transceiver 18 is chosen to comprise identical gps receiver with this mobile radio receiver 48, and it is configured to receive the signal from four GPS artificial satellite SV#130, SV#232, SV#334 and SV#436.
In this embodiment of the present invention, this radio positioning system receiver is configured to by determining its three-dimensional location coordinates with its navigating processor 54 based on a plurality of the second external wireless electric signal that receive.
Still with reference to Fig. 1, in one embodiment of this invention, should further comprise one second wireless communication link 38 based on the 3 D positioning system 10 of radio and light, it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) 14 to be connected with this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12.In one embodiment of this invention, this second wireless communication link 38 is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet and a satellite wireless communication link } group that forms.(seeing also discussion above).
In one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises a pseudo satellite, pseudolite receiver 50, and it is configured to by receiving the internal wireless electric signal that at least one is broadcasted by this radio transceiver 18 with this second wireless communication link 38 and antenna 44.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 is configured to by determining its three-dimensional location coordinates with its navigating processor 54 based at least one the internal wireless electric signal that receives.
In one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises: be configured to by using an antenna 56 to receive the radio receiver 48 of a plurality of the second external wireless electric signal; And be configured to survey at least one by the laser detector 52 of the laser beam 40 (and/or 41) of these generating laser 16 generations.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) 14 is configured to determine its three-dimensional location coordinates based on a plurality of the second external wireless electric signal that receive with first order precision (in rice magnitude or centimetre magnitude); And be configured to by using its navigating processor 54 to determine its height based at least one laser beam 40 (and/or 41) of surveying with second level precision (in the millimeter magnitude).
Still with reference to Fig. 1, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises: a pseudo satellite, pseudolite receiver 50, and it is configured to by using this second wireless communication link 38 to receive at least one by the internal wireless electric signal of these radio transceiver 18 broadcasting; And a laser detector 52, it is configured to survey the laser beam 40 (and/or 41) that at least one is produced by this generating laser 16.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 is configured to determine its position coordinates by the internal wireless electric signal of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting with first order precision (meter level or centimetre-sized) based at least one; And be configured to determine its height based at least one laser beam 40 (and/or 41) of surveying with second level precision (grade).
Still with reference to Fig. 1, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises: the radio receiver 48 that is configured to receive a plurality of the second external wireless electric signal; Be configured to by using this second wireless communication link 38 to receive at least one by the pseudo satellite, pseudolite receiver 50 of the internal wireless electric signal of these radio transceiver 18 broadcasting; And be configured to survey at least one by the laser detector 52 of the laser beam 40 (and/or 41) of these fixed laser transmitter 16 generations.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 is configured to based at least one by the internal wireless electric signal of these fixed radio transceiver 18 broadcasting and a plurality of by satellite SV#130 based on what receive, SV#232, the second external wireless electric signal that SV#334 and SV#436 broadcast or other external wireless power supply (not shown) is broadcasted by some is determined its three-dimensional location coordinates with first order precision (meter level or centimetre-sized), and is configured to determine that with this second level (millimeter magnitude) precision it highly based at least one laser beam 40 (and/or 41) of surveying.
Still with reference to Fig. 1, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 14 further comprises: be configured to receive the radio receiver 48 from first group of measurement data of a plurality of the second external wireless electric signal; Be configured to by using this second wireless communication link 38 to receive the pseudo satellite, pseudolite receiver of second group of measurement data of the internal wireless electric signal of broadcasting from this fixed radio transceiver 18; Be configured to survey at least one laser beam 40 (and/or 41) that is produced by this fixed laser transmitter 16 in order to receive the 3rd group of measurement data; And be configured to give the weighting/navigating processor 54 of different weighted values based on a Measurement Algorithm on the same group measurement data not.
Example
This Measurement Algorithm is taken a plurality of measuring positions parameter into account, and described measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.A) if the landform of this position is so that can not be clear that sky, this group is low priority and can gives minimum weighting factor based on the measured value of outside satellite radio signal.B) if the weather condition of this position so that the observability of at least one laser beam in this position when good, this group should be given the highest weighting factor based on the measured value of the laser data of surveying.C) if the weather condition of this position so that at least one laser beam when the poor visibility of this position, this group should be given minimum weighting factor based on the measured value of the laser data of surveying.
Figure 2 shows that of the present invention one comprises that one is arranged at one and has the fixed comprehensive radio transmitter/generating laser (RT_LT) 82 of position 84 of known coordinate and the 3 D positioning system 80 based on radio and light of at least one mobile comprehensive radio receiver/laser detector (RR_LD) 81.
In one embodiment of this invention, this fixed comprehensive radio transmitter/generating laser (RT_LT) 82 is configured to broadcast at least one internal wireless electric signal; And be configured to broadcast at least one laser beam 94 (and/or 96).(seeing also following complete discussion).
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) 81 is configured to receive a plurality of external wireless electric signal, be configured to receive at least one by the internal wireless electric signal of this fixed comprehensive RT_LT82 broadcasting, be configured to survey the laser beam 94 (and/or 96) that at least one is produced by this fixed comprehensive RT_LT82, also be configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives; And at least one laser beam of surveying } group that forms.
More particularly, this fixed comprehensive radio transmitter/generating laser (RT_LT) 82 further comprise pseudo satellite, pseudolite transmitter 90 and with the generating laser 88 of these pseudo satellite, pseudolite transmitter 90 combinations.This pseudo satellite, pseudolite transmitter 90 further comprises a fixed radio antenna 92; Wherein the distance between the phase center of this fixed radio antenna 92 and this generating laser 88 is known and fixing.
In one embodiment of this invention, this generating laser 88 further comprises a planar laser transmitter, and it is configured to produce one and is used for providing high precision vertical coordinate (seeing also complete discussion above).Reference laser beam interferes 94.
In another embodiment of the present invention, this generating laser 88 further comprises a fan-shaped generating laser, and it is configured to produce at least one rotation fan-shaped laser beam 94 (and/or 96).(seeing also complete discussion above).
Still with reference to Fig. 2, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises a radio positioning system receiver 102 and a laser detector 106 of being combined with this radio positioning system receiver.
In one embodiment of this invention, this radio positioning system receiver 102 is configured to receive a plurality of external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms; And be configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive.(seeing also complete discussion above).In this embodiment, navigating processor 108 is configured to determine based on a plurality of external wireless electric signal that receive the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) 81.
In one embodiment, this system 80 of the present invention further comprises a radio link 98, and it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) 81 to be connected with this fixed comprehensive radio transmitter/generating laser (RT_LT) 82.This radio link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet; An and satellite wireless communication link } group that forms.(seeing also complete discussion above).
Still with reference to Fig. 2, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises a pseudo satellite, pseudolite receiver 104, and it is configured to by using this antenna 92 and this radio link 98 to receive at least one by the internal wireless electric signal of these fixed transmitting set 90 broadcasting.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 is configured to by determining its three-dimensional location coordinates with this navigating processor 108 based at least one the internal wireless electric signal that receives.
Still with reference to Fig. 2, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises the radio receiver 102 that is configured to receive by use wireless aerial 118 a plurality of external wireless electric signal; And be configured to survey at least one by the laser detector 106 of the laser beam 94 (and/or 96) of these fixed laser transmitter 88 generations.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) 81 is configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive with first order precision (rice magnitude or centimetre magnitude); And be configured to by using this navigating processor 108 to determine its height based at least one laser beam 94 (and/or 96) of surveying with second level precision (grade).
In one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises: be configured to by using this radio link 98 and this antenna 92 to receive at least one by the pseudo satellite, pseudolite receiver 104 of the internal wireless electric signal of these fixed comprehensive radio transmitter 90 broadcasting; And be configured to survey at least one by the laser detector 106 of the laser beam 94 (and/or 96) of these fixed laser transmitter 88 generations.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 is configured to determine its position coordinates by the internal wireless electric signal of these fixed comprehensive radio transmitter 90 broadcasting with this first order precision (rice magnitude or centimetre magnitude) based at least one; And be configured to by using this navigating processor 108 to determine its height based at least one laser beam 94 (and/or 96) of surveying with this second level precision (millimeter magnitude).
Still with reference to Fig. 2, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises: the radio receiver 102 that is configured to receive a plurality of external wireless electric signal; Be configured to by using this radio link 98 to receive at least one by the pseudo satellite, pseudolite receiver of the internal wireless electric signal of these fixed comprehensive radio transmitter 90 broadcasting; And be configured to survey at least one by the laser detector 106 of the laser beam 94 (and/or 96) of these fixed laser transmitter 88 generations.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 is configured to by using this navigating processor 108 to determine its three-dimensional location coordinates by the internal wireless electric signal of these fixed comprehensive radio transmitter/generating laser (RT_LT) 82 broadcasting and based on a plurality of external wireless electric signal that receive with this first order precision (meter level or centimetre-sized) based at least one.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 is configured to by using this navigating processor 108 to determine its height based at least one laser beam 94 (and/or 96) of surveying with this second level precision (bright meter level).
Still with reference to Fig. 2, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 81 further comprises: be configured to receive the radio receiver 102 from first group of measurement data of a plurality of external wireless electric signal; Be configured to by using this radio link 98 to receive from least one pseudo satellite, pseudolite receiver 104 by second group of measurement data of the internal wireless electric signal of these fixed comprehensive radio transmitter 90 broadcasting; Be configured to survey at least one laser beam 94 (and/or 96) that is produced by this fixed laser transmitter 88 to receive the laser detector 106 of the 3rd group of measurement data; And be configured to give the weighting/navigating processor 108 of different weighted values based on a Measurement Algorithm on the same group measurement data not.
In one embodiment of this invention, for optimizing this Measurement Algorithm, can take at least one measuring position parameter into account when measuring, wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.(seeing also discussion above).
In one embodiment, Fig. 3 illustrates of the present invention one and comprises that one is arranged at a fixed transmitting set 156, with primary importance 156 of known coordinate and is arranged at one and has the fixed laser transmitter 150 of the second place 152 of known coordinate and the 3 D positioning system 140 based on radio and light of at least one mobile comprehensive radio receiver/laser detector (RR_LD) 180.
In one embodiment of this invention, this fixed transmitting set 154 is configured to broadcast at least one internal wireless electric signal, and this fixed laser transmitter 150 then is configured to broadcast at least one laser beam.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 is configured to receive a plurality of external wireless electric signal, be configured to receive the internal wireless electric signal that at least one is broadcasted by this fixed transmitting set, be configured to survey at least one laser beam that is produced by this fixed laser transmitter and be configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms.(seeing also discussion hereinafter).
In one embodiment of this invention, this fixed transmitting set 154 that is arranged at this primary importance with known coordinate 156 further comprises a pseudo satellite, pseudolite transmitter.
In one embodiment of this invention, this fixed laser transmitter 150 that is arranged at this second place with known coordinate 152 further comprises a planar laser transmitter, and it is configured to produce a reference laser beam interferes that a high precision vertical coordinate can be provided.(seeing also discussion above).In another embodiment of the present invention, this fixed laser transmitter 150 that is arranged at this second place with known coordinate 152 further comprises a fan-shaped generating laser, and it is configured to produce at least one rotation fan-shaped laser beam 172 (and/or 174).(seeing also discussion above).
In one embodiment of this invention, this at least one mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises a radio positioning system receiver 166 (168) and one and the laser detector 170 of these radio positioning system receiver 166 combinations.This radio positioning system receiver 166 (168) further comprises a wireless aerial 164 (162); Wherein the phase center of this wireless aerial 164 (162) and the distance between this laser detector 170 are known and fixing.
In one embodiment of this invention, this radio positioning system receiver 166 (168) is configured to receive a plurality of external wireless electric signal by at least one radio source broadcasting, and wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS); An and pseudo satellite, pseudolite transmitter } group that forms.(seeing also discussion above).
In one embodiment, this system of the present invention further comprises a radio link, it is configured to make this mobile comprehensive radio receiver/laser detector (RR_LD) 180 to be connected with this fixed transmitting set 154, and wherein this wireless communication link is selected from one by { a cellular link; One radio; One dedicated radio wave band; One SiteNet900 private radio electrical network; One wireless Internet and a satellite wireless communication link } group that forms.(seeing also discussion above).
Still with reference to Fig. 3, more particularly, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises the pseudo satellite, pseudolite receiver, and it is configured to by using this radio link 160 to receive at least one by the internal wireless electric signal of these fixed transmitting set 154 broadcasting; And be configured to by determining its three-dimensional location coordinates with navigating processor 176 based at least one the internal wireless electric signal that receives.
Still with reference to Fig. 3, more particularly, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises: radio receiver 166, it is configured to receive a plurality of by at least four satellites (or radio) source 142,144,146, the 148 external wireless electric signal that send; And laser detector 170, it is configured to survey the laser beam 172 (and/or 174) that at least one is produced by this fixed laser transmitter 150.In this embodiment of the present invention, this comprehensive radio receiver/laser detector (RR_LD) 180 is configured to determine its three-dimensional location coordinates based on a plurality of external wireless electric signal that receive with first order precision (rice magnitude or centimetre magnitude); And be configured to by using this navigating processor 176 to determine its height based at least one laser beam 172 (and/or 174) of surveying with second level precision (millimeter magnitude).
In one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises: pseudo satellite, pseudolite receiver 168, and it is configured to by using this radio link 160 to receive at least one by the internal wireless electric signal of these fixed transmitting set 154 broadcasting; And laser detector 170, it is configured to survey the laser beam 172 (and/or 174) that at least one is produced by this fixed laser transmitter 150.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 is configured to determine its position coordinates by the internal wireless electric signal of these fixed transmitting set 154 broadcasting with first order precision (rice magnitude or centimetre magnitude) based at least one; And be configured to by using this navigating processor 176 to determine its height based at least one laser beam 172 (and/or 174) of surveying with this second level precision (millimeter magnitude).
In one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises: radio receiver 166, and it is configured to receive a plurality of external wireless electric signal; Pseudo satellite, pseudolite receiver 168, it is configured to by using this radio link 160 to receive at least one by the internal wireless electric signal of these fixed transmitting set 154 broadcasting; And laser detector 170, it is configured to survey the laser beam 172 (and/or 174) that at least one is produced by this fixed laser transmitter 150.In this embodiment of the present invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 is configured to determine its position coordinates by the internal wireless electric signal of these fixed transmitting set 154 broadcasting and based on a plurality of external wireless electric signal by at least one satellite (and/or radio) original broadcast that receive with first order precision (rice magnitude or centimetre magnitude) based at least one; And be configured to by using this navigating processor 176 to determine its height based at least one laser beam 172 (and/or 174) of surveying with this second level precision (millimeter magnitude).
Still with reference to Fig. 3, in one embodiment of this invention, this mobile comprehensive radio receiver/laser detector (RR_LD) 180 further comprises: radio receiver 166, and it is configured to receive first group of measurement data from a plurality of external wireless electric signal; Pseudo satellite, pseudolite receiver 168, it is configured to by using this radio link 160 to receive one from least one second group of measurement data by the internal wireless electric signal of these fixed transmitting set 154 broadcasting; Laser detector 170, it is configured to survey at least one laser beam 172 (and/or 174) that is produced by this fixed laser transmitter 150 to receive one the 3rd group of measurement data; And weighting/navigating processor, it is configured to give different weighted values based on a Measurement Algorithm on the same group measurement data not.In one embodiment of this invention, for optimizing this Measurement Algorithm, can take at least one measuring position parameter into account when measuring, wherein each measuring position parameter is selected from one by the { landform of position; The weather condition of position and at least one laser beam are in the visibility of position } group that forms.(seeing also discussion above).
Another aspect of the present invention points to a kind of method of determining mobile subscribers position coordinates by use one fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 as shown in Figure 1.
In this embodiment, method of the present invention comprises the steps (not shown): a 3 D positioning system 10 based on radio and light A) is provided, and it comprises that this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 and this comprise the mobile subscriber of a mobile comprehensive radio receiver/laser detector (RR_LD) 14; B) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to receive a plurality of the first external wireless electric signal; C) determine the position coordinates of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) based on a plurality of the first external wireless electric signal that receive; D) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam; E) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of the second external wireless electric signal, receive at least one by the internal wireless electric signal of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting and surveying the laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); And F) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms.
In one embodiment of this invention, this step B) further comprise the step (B1) that receives a plurality of the first external wireless electric signal by at least one radio source broadcasting, wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS) and a pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, this step B) further comprise reception one by the step (B2) of the differential correction data group of at least one original broadcast, described source is selected from one by { base station, a RTK base station; One virtual base station (VBS) and a pseudo satellite, pseudolite transmitter } group that forms.
In one embodiment of this invention, this step D) further comprise by using planar laser transmitter generation one that the step (D1) of the reference laser beam interferes of a high precision vertical coordinate can be provided.In another embodiment of the present invention, this step D) further comprise by using a fan-shaped generating laser to produce the step (D2) of at least one rotation fan-shaped laser beam.
In one embodiment of this invention, this step e) further comprise the step (E1) that receives a plurality of the second external wireless electric signal by at least one radio source broadcasting, wherein said at least one radio source is selected from one by { GPS; GLONASS; The combination of GPS/GLONASS; GALILEO; GLONASS (Global Navigation Satellite System) (GNSS) and a pseudo satellite, pseudolite transmitter } group that forms.In one embodiment of this invention, step e) further comprise at least one step (E2) by the laser beam of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) generation of detection.
In one embodiment of this invention, step F) comprise the steps: that further (F1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with first order precision based on a plurality of the second external wireless electric signal that receive; And the height coordinate of (F2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.In one embodiment of this invention, step F) further comprise the steps: (F3) based at least one by the internal wireless electric signal of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting and the three-dimensional location coordinates of determining this mobile comprehensive radio receiver/laser detector (RR_LD) based on a plurality of the second external wireless electric signal that receive with this first order precision; And the height coordinate of (F4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with this second level precision.In one embodiment of this invention, step F) further comprise by come to give the step (F5) of different weighted values based on a Measurement Algorithm on the same group measurement data not with a weighting processor; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of position; The weather condition of position and at least one laser beam are in the visibility of position } group that forms.
Again one side of the present invention is pointed to a kind of method of utilizing a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) 12 (Fig. 1) to follow the tracks of at least one mobile device, and wherein at least one mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD) 14 (Fig. 1).
In one embodiment, tracking of the present invention comprises the steps (not shown): the position coordinates of A) determining this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) (12 among Fig. 1) based on a plurality of the first external wireless electric signal; B) by using this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) (12 among Fig. 1) substantially to broadcast continuously at least one internal wireless electric signal and broadcast at least one laser beam; C) by using at least one mobile comprehensive radio receiver/laser detector (RR_LD) (14 among Fig. 1) to receive a plurality of the second external wireless electric signal, receive at least one by the internal wireless electric signal of this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting and surveying the laser beam that is produced by this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); D) determine the three-dimensional location coordinates of this at least one mobile comprehensive radio receiver/laser detector (RR_LD) (14 among Fig. 1) based on one group of data, described data are selected from one by { a plurality of second external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms; And E) the three-dimensional location coordinates measured value with this at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).In one embodiment, wherein this fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises a display unit (not shown), and tracking of the present invention further comprises the steps: F) show the three-dimensional location coordinates measured value of this at least one mobile comprehensive radio receiver/laser detector (RR_LD).
Another aspect of the present invention points to the method for a kind of mobile subscriber's of determining position coordinates, it comprises the steps (not shown): as shown in Figure 2 a 3 D positioning system 80 based on radio and light A) is provided, and it comprises that one is arranged at the fixed comprehensive radio transmitter/generating laser (RT_LT) 82 of a known location 84 and this comprises the mobile subscriber of a mobile comprehensive radio receiver/laser detector (RR_LD) 81; B) by using this fixed comprehensive radio transmitter/generating laser (RT_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam; C) by using this mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receive at least one by the internal wireless electric signal of this fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting and surveying the laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT); And D) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms.
In one embodiment of this invention, step C) further comprise at least one step (C2) by the laser beam of this fixed comprehensive radio transmitter/generating laser (RT_LT) generation of detection.
In one embodiment of this invention, step D) comprise the steps: that further (D1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with a first order precision based on a plurality of external wireless electric signal that receive; And the height coordinate of (D2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with a second level precision.
In one embodiment of this invention, step D) comprise the steps: that further (D3) determined the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one with this first order precision by a plurality of external wireless electric signal of the internal wireless electric signal of this fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting and reception; And the height coordinate of (D4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with this second level precision.
In one embodiment, step D) further comprise by come to give the step (D5) of different weighted values based on a Measurement Algorithm on the same group measurement data not with a weighting processor; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of position; The weather condition of position and at least one laser beam are in the visibility of position } group that forms.
Of the present inventionly point on the one hand more a kind of method of utilizing a fixed comprehensive radio transmitter/generating laser (RT_LT) 82 (Fig. 2) to follow the tracks of at least one mobile device, wherein at least one mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD) (Fig. 2 81).In this embodiment, tracking of the present invention comprises the steps (not shown): A) by using this fixed comprehensive radio transmitter/generating laser (RT_LT) substantially to broadcast continuously at least one internal wireless electric signal and broadcast at least one laser beam; B) by using at least one mobile comprehensive radio receiver/laser detector (RR_LD) to receive a plurality of external wireless electric signal, receive at least one by the internal wireless electric signal of this fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting and surveying the laser beam that is produced by this fixed comprehensive radio transmitter/generating laser (RT_LT); C) determine the three-dimensional location coordinates of this at least one mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms; D) the three-dimensional location coordinates measured value with this at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to this fixed comprehensive radio transmitter/generating laser (RT_LT); And (selectable) E) show the three-dimensional location coordinates measured value of this at least one mobile comprehensive radio receiver/laser detector (RR_LD), wherein this fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises a display unit (not shown).
Another aspect of the present invention points to a kind of by utilizing a fixed transmitting set that is arranged at a primary importance with known coordinate (Fig. 3 156) (Fig. 3 154) and by utilizing a fixed laser transmitter that is arranged at the second place with known coordinate (Fig. 3 152) (Fig. 3 150) to determine the method for a mobile subscriber's (Fig. 3 180) position coordinates.In this embodiment, the method for the present invention comprises the steps (not shown): A) provide one to be arranged at a fixed transmitting set with primary importance of known coordinate; Provide one to be arranged at a fixed laser transmitter with second place of known coordinate; And provide this to comprise the mobile subscriber of a mobile comprehensive radio receiver/laser detector (RR_LD); B) by using this fixed radio transmitter that is arranged at this primary importance with known coordinate to broadcast at least one internal wireless electric signal; C) by using this fixed laser transmitter that is arranged at this second place with known coordinate to broadcast at least one laser beam; D) by use this mobile comprehensive radio receiver/laser detector (RR_LD) receive a plurality of external wireless electric signal, receive at least one by this be arranged at this primary importance with known coordinate fixed radio transmitter broadcasting the internal wireless electric signal and survey the laser beam that is produced by this fixed laser transmitter that is arranged at this second place with known coordinate; And E) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms.
In one embodiment of this invention, step D) further comprise at least one step (D2) by the laser beam of this fixed laser transmitter generation of detection.
In one embodiment of this invention, step e) comprise the steps: that further (E1) determines the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) with first order precision based on a plurality of external wireless electric signal that receive; And the height coordinate of (E2) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with second level precision.
In one embodiment of this invention, step e) further comprise the steps: (E3) based at least one by the internal wireless electric signal of this fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting and the three-dimensional location coordinates of determining this mobile comprehensive radio receiver/laser detector (RR_LD) based on a plurality of external wireless electric signal that receive with this first order precision; And the height coordinate of (E4) determining this mobile comprehensive radio receiver/laser detector (RR_LD) based at least one laser beam of surveying with this second level precision.
In one embodiment of this invention, step e) further comprise by come to give the step (E5) of different weighted values based on a Measurement Algorithm on the same group measurement data not with a weighting processor; Wherein when measuring, take at least one measuring position parameter into account to optimize this Measurement Algorithm; And wherein each measuring position parameter is selected from one by the { landform of this position; The weather condition of this position; And at least one laser beam is in the visibility of this position } group that forms.
A kind of method of utilizing a fixed transmitting set that is arranged at a primary importance with known coordinate (Fig. 3 156) (Fig. 3 154) and utilizing a fixed laser transmitter that is arranged at the second place with known coordinate (Fig. 3 152) (Fig. 3 150) to follow the tracks of at least one mobile device 180 is pointed in another extra aspect of the present invention, and wherein at least one mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD) (Fig. 3 180).In this embodiment of the present invention, the method comprises the steps (not shown): A) by using this fixed transmitting set that is arranged at this primary importance with known coordinate substantially to broadcast continuously at least one internal wireless electric signal; B) by using this fixed laser transmitter that is arranged at this second place with known coordinate substantially to broadcast continuously at least one laser beam; C) by use this mobile comprehensive radio receiver/laser detector (RR_LD) receive a plurality of external wireless electric signal, receive at least one by this be arranged at this primary importance with known coordinate fixed transmitting set broadcasting the internal wireless electric signal and survey the laser beam that is produced by this fixed laser transmitter that is arranged at this second place with known coordinate; D) determine the three-dimensional location coordinates of this mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from one by { a plurality of external wireless electric signal of reception; At least one the internal wireless electric signal that receives and at least one laser beam of detection } group that forms; E) the three-dimensional location coordinates measured value of at least one mobile comprehensive radio receiver/laser detector (RR_LD) is sent it back to this be arranged at the fixed transmitting set of this primary importance with known coordinate and send it back the fixed laser transmitter that is arranged at this second place with known coordinate to this; And (selectable) F) show the three-dimensional location coordinates measured value of this at least one mobile comprehensive radio receiver/laser detector (RR_LD), wherein this fixed transmitting set that is arranged at this primary importance with known coordinate comprises the first display unit (not shown); And wherein this fixed laser transmitter that is arranged at this second place with known coordinate comprises the second display unit (not shown).
The purpose of above narration to specific embodiment of the present invention is explanation and describes, it should not regarded as exhaustive or limit the invention to shown in specific pattern.According to above enlightenment, clearly can make many remodeling and modification.Select and narration embodiment is for principle of the present invention and actual application thereof are described best, thereby make others skilled in the art utilize best the present invention and imagine various different the changes to adapt to the embodiment of special-purpose that have.Protection scope of the present invention should be limited by appended claim and equivalence thereof.

Claims (44)

1. 3 D positioning system based on radio and light, it comprises:
Fixed comprehensive self-align radio transceiver/generating laser (RTR_LT), it is configured to receive a plurality of the first external wireless electric signal, is configured to determine its position coordinates, be configured to broadcast at least one internal wireless electric signal and be configured to broadcast at least one laser beam based on described a plurality of the first external wireless electric signal that receive; And
At least one mobile comprehensive radio receiver/laser detector (RR_LD) also comprises two radio receivers, laser detector and weighting processor;
The first radio receiver is configured to receive described at least one the internal wireless electric signal by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting;
The second radio receiver is configured to receive a plurality of the second external wireless electric signal;
Described laser detector is configured to survey described at least one laser beam that is produced by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT),
Described at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from by { described a plurality of second external wireless electric signal of reception; Described at least one the internal wireless electric signal that receives; And described at least one laser beam of surveying } group that forms;
Wherein said weighting processor is configured to give different weighted values based on Measurement Algorithm on the same group data not.
2. the system as claimed in claim 1 is characterized in that, described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises:
Transceiver, it is configured to receive described a plurality of first external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS); The whole world is around rail navigational system (GLONASS); GPS/whole world is around the combination of rail navigational system; Galileo system (GALILEO); Global Navigation Satellite System (GNSS); And pseudo satellite, pseudolite transmitter; And
Generating laser, it is combined with described transceiver.
3. system as claimed in claim 2 is characterized in that, described transceiver further comprises:
The fixed radio antenna; Distance between the phase center of wherein said fixed radio antenna and the described generating laser is known and fixing.
4. system as claimed in claim 2 is characterized in that, described generating laser further comprises:
The planar laser transmitter, it is configured to produce the reference laser beam interferes be used to the high precision vertical coordinate is provided.
5. system as claimed in claim 2 is characterized in that, described generating laser further comprises:
Fan-shaped generating laser, it is configured to produce at least one rotation fan-shaped laser beam.
6. the system as claimed in claim 1 is characterized in that, described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises:
The difference transceiver, it is configured to receive described a plurality of first external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), GLONASS (Global Navigation Satellite System) (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system; And being configured to receive the differential correction data group of being broadcasted by at least one source, described source is selected from the group that is comprised of following: base station, in real time dynamic (RTK) base station, virtual base station (VBS) and pseudo satellite, pseudolite transmitter; And
Generating laser;
Wherein said difference transceiver configuration becomes to utilize described a plurality of the first external wireless electric signal and described differential correction data group to obtain the accurate measurement of coordinates value of described difference transceiver.
7. system as claimed in claim 6 further comprises:
The first wireless communication link, it is configured to make described difference transceiver to be connected with described differential correction data source; And wherein said the first wireless communication link is selected from the group that is comprised of following: cellular link, radio, dedicated radio wave band and satellite wireless communication link.
8. the system as claimed in claim 1 is characterized in that, at least one described mobile comprehensive radio receiver/laser detector (RR_LD) further comprises:
Described the second radio receiver, it is configured to receive described a plurality of second external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
9. the system as claimed in claim 1 further comprises:
The second wireless communication link, it is configured to make described mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT);
And wherein said the second wireless communication link is selected from the group that is comprised of following: cellular link, radio, dedicated radio wave band, wireless Internet and satellite wireless communication link.
10. system as claimed in claim 9 is characterized in that, described at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises:
The first radio receiver, it is configured to by receive described at least one the internal wireless electric signal by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting with described the second wireless communication link.
11. the system as claimed in claim 1 is characterized in that, described at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises:
The second radio receiver, it is configured to receive described a plurality of the second external wireless electric signal;
The first radio receiver, it is configured to by using described the second wireless communication link to receive described at least one internal wireless electric signal of being broadcasted by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT); And
Laser detector, it is configured to survey described at least one laser beam that is produced by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT);
Wherein said at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to based on determining its three-dimensional location coordinates by described at least one internal wireless electric signal of described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) broadcasting and based on described a plurality of the second external wireless electric signal that receive with described first order precision;
And described at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based on described at least one laser beam of surveying with described second level precision;
And ratio of precision described first order precision in the wherein said second level is high.
12. the system as claimed in claim 1 is characterized in that, takes at least one measuring position parameter into account to optimize described Measurement Algorithm when measuring; And wherein each described measuring position parameter is selected from by { the landform of described position; The weather condition of described position; And described at least one laser beam is in the visibility of described position } group that forms.
13. the 3 D positioning system based on radio and light, it comprises:
Be arranged at the fixed comprehensive radio transmitter/generating laser of the position with known coordinate
(RT_LT), it is configured to broadcast at least one internal wireless electric signal; And be configured to broadcast at least one laser beam; And
At least one mobile comprehensive radio receiver/laser detector (RR_LD) also comprises two radio receivers, laser detector and weighting processor;
The first radio receiver is configured to receive described at least one the internal wireless electric signal by described fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting;
The second radio receiver is configured to receive a plurality of external wireless electric signal; Described laser detector is configured to survey described at least one laser beam that is produced by described fixed comprehensive radio transmitter/generating laser (RT_LT);
Described at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its three-dimensional location coordinates based on one group of data that described data are selected from the group that is comprised of following: described at least one internal wireless electric signal of described a plurality of external wireless electric signal of reception, reception and described at least one laser beam of surveying;
Wherein said weighting processor is configured to give different weighted values based on Measurement Algorithm on the same group measurement data not.
14. system as claimed in claim 13 is characterized in that, described fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises:
The planar laser transmitter, it is configured to produce one for the reference laser beam interferes that the high precision vertical coordinate is provided.
15. system as claimed in claim 13 is characterized in that, described fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises:
Fan-shaped generating laser, it is configured to produce at least one rotation fan-shaped laser beam.
16. system as claimed in claim 13 is characterized in that, described at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises:
The second radio receiver, it is configured to receive a plurality of external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
17. system as claimed in claim 13 further comprises:
Radio Link, it is configured to make described mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with described fixed comprehensive radio transmitter/generating laser (RT_LT);
And wherein said Radio Link is selected from the group that is comprised of following: cellular link, radio, dedicated radio wave band, wireless Internet and satellite wireless communication link.
18. system as claimed in claim 13 is characterized in that, described at least one mobile comprehensive radio receiver/laser detector (RR_LD) further comprises:
The second radio receiver, it is configured to receive described a plurality of external wireless electric signal;
The first radio receiver, it is configured to by receive described at least one the internal wireless electric signal by described fixed comprehensive radio transmitter/generating laser (RT_LT) broadcasting with Radio Link; And
Laser detector, it is configured to survey described at least one laser beam that is produced by described fixed comprehensive radio transmitter/generating laser (RT_LT);
Wherein said at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to based on determining its position coordinates by described at least one internal wireless electric signal of described fixed comprehensive radio transmitter/generating laser (RTR_LT) broadcasting and based on the described a plurality of external wireless electric signal that receive with first order precision;
And wherein said at least one mobile comprehensive radio receiver/laser detector (RR_LD) is configured to determine its height based on described at least one laser beam of surveying with second level precision;
And ratio of precision described first order precision in the wherein said second level is high.
19. system as claimed in claim 13 is characterized in that, takes at least one measuring position parameter into account to optimize described Measurement Algorithm when measuring; And wherein each described measuring position parameter is selected from the group that is comprised of following: the landform of described position, the weather condition of described position and described at least one laser beam are in the visibility of described position.
20. the 3 D positioning system based on radio and light, it comprises:
Be arranged at the fixed transmitting set of the primary importance with known coordinate, it is configured to broadcast at least one internal wireless electric signal;
Be arranged at the fixed laser transmitter of the second place with known coordinate, it is configured to broadcast at least one laser beam; And
At least one mobile comprehensive radio receiver/laser detector (RR_LD), it further comprises two radio receivers, laser detector and weighting processor;
The first radio receiver, it is configured to receive described at least one the internal wireless electric signal by described fixed transmitting set broadcasting;
The second radio receiver, it is configured to receive a plurality of external wireless electric signal;
Described laser detector, it is configured to survey described at least one laser beam that is produced by described fixed laser transmitter;
Described at least one mobile comprehensive radio receiver/laser detector (RR_LD), it is configured to determine that based on one group of data its three-dimensional location coordinates, described data are selected from by { described a plurality of external wireless electric signal of reception; Described at least one the internal wireless electric signal that receives; And described at least one laser beam of surveying } group that forms;
Wherein said weighting processor is configured to give different weighted values based on Measurement Algorithm on the same group data not.
21. system as claimed in claim 20 is characterized in that, described generating laser further comprises:
The planar laser transmitter, it is configured to produce the reference laser beam interferes be used to the high precision vertical coordinate is provided.
22. system as claimed in claim 20 is characterized in that, described generating laser further comprises:
Fan-shaped generating laser, it is configured to produce at least one rotation fan-shaped laser beam.
23. system as claimed in claim 20 further comprises:
Radio Link, it is configured to make described mobile comprehensive radio receiver/laser detector (RR_LD) to be connected with described fixed transmitting set;
And wherein said Radio Link is selected from the group that is comprised of following: cellular link, radio, dedicated radio wave band, wireless Internet and satellite wireless communication link.
24. system as claimed in claim 20 is characterized in that, takes at least one measuring position parameter into account to optimize described Measurement Algorithm when measuring; And wherein each described measuring position parameter is selected from the group that is comprised of following: the landform of described position, the weather condition of described position and described at least one laser beam are in the visibility of described position.
25. definite method of a mobile subscriber position coordinates, it comprises the steps:
(A) provide a 3 D positioning system based on radio and light, described 3 D positioning system comprises a fixed comprehensive self-align radio transceiver/generating laser (RTR_LT), and described mobile subscriber comprises a mobile comprehensive radio receiver/laser detector (RR_LD), and described mobile comprehensive radio receiver/laser detector (RR_LD) also comprises the first radio receiver, the second radio receiver, laser detector and weighting processor;
(B) by using described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to receive a plurality of the first external wireless electric signal;
(C) determine the position coordinates of described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) based on described a plurality of the first external wireless electric signal that receive;
(D) by using described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam;
(E) by receive a plurality of the second external wireless electric signal with described the second radio receiver, by described at least one the internal wireless electric signal that uses described the first radio receiver reception to be broadcasted by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT), and by using described laser detector detection by the described laser beam of described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) generation;
(F) by using described weighting processor and Measurement Algorithm to give different weighted values on the same group data not; And
(G) determine the three-dimensional location coordinates of described mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of weighted data, described data are selected from the group that is comprised of following: described a plurality of second external wireless electric signal of reception, described at least one internal wireless electric signal of reception and described at least one laser beam of surveying.
26. method as claimed in claim 25 is characterized in that, described step (B) further comprises the steps:
(B 1) receives described a plurality of first external wireless electric signal of being broadcasted by at least one radio source, and wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
27. method as claimed in claim 25 is characterized in that, described step (B) further comprises the steps:
(B2) receive a differential correction data group of being broadcasted by at least one source, described source is selected from the group that is comprised of following: base station, in real time dynamically (RTK) base station, virtual base station (VBS) and pseudo satellite, pseudolite transmitter.
28. method as claimed in claim 25 is characterized in that, described step (D) further comprises the steps:
(Dl) by producing be used to the reference laser beam interferes that the high precision vertical coordinate is provided with the planar laser transmitter.
29. method as claimed in claim 25 is characterized in that, described step (D) further comprises the steps:
(D2) by produce at least one rotation fan-shaped laser beam with fan-shaped generating laser.
30. method as claimed in claim 25 is characterized in that, described step (E) further comprises the steps:
(E1) receive described a plurality of second external wireless electric signal of being broadcasted by at least one radio source, wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
31. method as claimed in claim 25 is characterized in that, described step (F) further comprises the steps:
(F1) by using weighting processor to give different weighted values based on Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize described Measurement Algorithm; And wherein each described measuring position parameter is selected from the group that is comprised of following: the landform of described position, the weather condition of described position and at least one described laser beam are in the visibility of described position.
32. method of utilizing fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to follow the tracks of at least one mobile device, at least one described mobile device comprises mobile comprehensive radio receiver/laser detector (RR_LD), described mobile comprehensive radio receiver/laser detector (RR_LD) also comprises the first radio receiver, the second radio receiver, laser detector and weighting processor, and described method comprises the steps:
(A) determine the position coordinates of described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) based on a plurality of the first external wireless electric signal;
(B) by using described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam;
(C) by using described the second radio receiver to receive a plurality of the second external wireless electric signal, by described at least one the internal wireless electric signal that uses described the first radio receiver reception to be broadcasted by described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT), and by using described laser detector detection by the described laser beam of described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) generation;
(D) by using described weighting processor and Measurement Algorithm to give different weighted values on the same group data not;
(E) determine the three-dimensional location coordinates of described at least one mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of data, described data are selected from the group that is comprised of following: described a plurality of second external wireless electric signal of reception, described at least one internal wireless electric signal of reception and described at least one laser beam of surveying; And
(F) the three-dimensional location coordinates measured value with described at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to described fixed comprehensive self-align radio transceiver/generating laser (RTR_LT).
33. method as claimed in claim 32 is characterized in that, further comprises the steps:
(G) the described three-dimensional location coordinates measured value of described at least one the mobile comprehensive radio receiver/laser detector (RR_LD) of demonstration, wherein said fixed comprehensive self-align radio transceiver/generating laser (RTR_LT) further comprises display unit.
34. definite method of a mobile subscriber position coordinates, it comprises the steps:
(A) provide 3 D positioning system based on radio and light, described 3 D positioning system comprises the fixed comprehensive radio transmitter/generating laser (RT_LT) that is arranged at known location, and described mobile subscriber comprises mobile comprehensive radio receiver/laser detector (RR_LD);
(B) by using described fixed comprehensive radio transmitter/generating laser (RT_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam;
(B1) provide at least one mobile comprehensive radio receiver/laser detector (RR_LD), it comprises the first radio receiver, the second radio receiver, laser detector and weighting processor;
(C) by using described the second radio receiver to receive a plurality of external wireless electric signal, by described at least one the internal wireless electric signal that uses described the first radio receiver reception to be broadcasted by described fixed comprehensive radio transmitter/generating laser (RT_LT), and by using described laser detector detection by the described laser beam of described fixed comprehensive radio transmitter/generating laser (RT_LT) generation; And
(D) determine the three-dimensional location coordinates of described mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of weighted data, described data are selected from the group that is comprised of following: described at least one internal wireless electric signal of described a plurality of external wireless electric signal of reception, reception and described at least one laser beam of surveying.
35. method as claimed in claim 34 is characterized in that, described step (B) further comprises the steps:
(B2) by using fan-shaped generating laser to produce at least one rotation fan-shaped laser beam.
36. method as claimed in claim 34 is characterized in that, described step (C) further comprises the steps:
(C1) receive described a plurality of external wireless electric signal of being broadcasted by at least one radio source, wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
37. method as claimed in claim 34 is characterized in that, described step (D) further comprises the steps:
(D1) by using weighting processor to give different weighted values based on Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize described Measurement Algorithm; And wherein each described measuring position parameter is selected from by { the landform of described position; The weather condition of described position; And described at least one laser beam is in the visibility of described position } group that forms.
38. method of utilizing fixed comprehensive radio transmitter/generating laser (RT_LT) to follow the tracks of at least one mobile device; At least one described mobile device comprises mobile comprehensive radio receiver/laser detector (RR_LD), described mobile comprehensive radio receiver/laser detector (RR_LD) also comprises the first radio receiver, the second radio receiver, laser detector and weighting processor, and described method comprises the steps:
(A) by using described fixed comprehensive radio transmitter/generating laser (RT_LT) to broadcast at least one internal wireless electric signal and broadcast at least one laser beam;
(B) by using described the second radio receiver to receive a plurality of external wireless electric signal, by described at least one the internal wireless electric signal that uses described the first radio receiver reception to be broadcasted by described fixed comprehensive radio transmitter/generating laser (RT_LT), and by using described laser detector detection by the described laser beam of described fixed comprehensive radio transmitter/generating laser (RT_LT) generation;
(C) determine the three-dimensional location coordinates of at least one described mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of weighted data, described data are selected from the group that is comprised of following: described at least one internal wireless electric signal of described a plurality of external wireless electric signal of reception, reception and described at least one laser beam of surveying; And
(D) the described three-dimensional location coordinates measured value with described at least one mobile comprehensive radio receiver/laser detector (RR_LD) sends it back to described fixed comprehensive radio transmitter/generating laser (RT_LT).
39. method as claimed in claim 38 further comprises the steps:
(E) show the described three-dimensional location coordinates measured value of at least one described mobile comprehensive radio receiver/laser detector (RR_LD), wherein said fixed comprehensive radio transmitter/generating laser (RT_LT) further comprises display unit.
40. definite method of a mobile subscriber position coordinates, it comprises the steps:
(A) provide the fixed transmitting set that is arranged at the primary importance with known coordinate; The fixed laser that is arranged at the second place with known coordinate transmitter is provided; And the described mobile subscriber who comprises mobile comprehensive radio receiver/laser detector (RR_LD) is provided, described mobile comprehensive radio receiver/laser detector further comprises the first radio receiver, the second radio receiver, laser detector and weighting processor;
(B) by broadcasting at least one internal wireless electric signal with the described fixed transmitting set that is arranged at the described primary importance with known coordinate;
(C) by broadcasting at least one laser beam with the described fixed laser transmitter that is arranged at the described second place with known coordinate;
(D) by using described the first radio receiver to receive a plurality of external wireless electric signal, by described at least one the internal wireless electric signal that uses described the second radio receiver reception to be broadcasted by the described fixed transmitting set that is arranged at the described primary importance with known coordinate, and by using described laser detector to survey the described laser beam that is produced by the described fixed laser transmitter that is arranged at the described second place with known coordinate; And
(E) determine the three-dimensional location coordinates of described mobile comprehensive radio receiver/laser detector (RR_LD) based on one group of weighted data, described data are selected from the group that is comprised of following: described at least one internal wireless electric signal of described a plurality of external wireless electric signal of reception, reception and described at least one laser beam of surveying.
41. method as claimed in claim 40 is characterized in that, described step (C) further comprises the steps:
(C1) by using the planar laser transmitter to produce the reference laser beam interferes that is used for providing the high precision vertical coordinate.
42. method as claimed in claim 40 is characterized in that described step (C) further comprises the steps:
(C2) by using fan-shaped generating laser to produce at least one rotation fan-shaped laser beam.
43. method as claimed in claim 40 is characterized in that, described step (D) further comprises the steps:
(D1) receive described a plurality of external wireless electric signal of being broadcasted by at least one radio source, wherein said at least one radio source is selected from the group that is comprised of following: GPS (GPS), the whole world are around rail navigational system (GLONASS), GPS/whole world combination, Galileo system (GALILEO), Global Navigation Satellite System (GNSS) and the pseudo satellite, pseudolite transmitter around the rail navigational system.
44. method as claimed in claim 40 is characterized in that, described step (E) further comprises the steps:
(E1) by using weighting processor to give different weighted values based on Measurement Algorithm on the same group measurement data not; Wherein when measuring, take at least one measuring position parameter into account to optimize described Measurement Algorithm; And wherein each described measuring position parameter is selected from the group that is comprised of following: the landform of described position, the weather condition of described position and described at least one laser beam are in the visibility of described position.
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